Search results for "Haptic"
showing 10 items of 47 documents
Advanced teleoperation and control system for industrial robots based on augmented virtuality and haptic feedback
2021
[EN] There are some industrial tasks that are still mainly performed manually by human workers due to their complexity, which is the case of surface treatment operations (such as sanding, deburring, finishing, grinding, polishing, etc.) used to repair defects. This work develops an advanced teleoperation and control system for industrial robots in order to assist the human operator to perform the mentioned tasks. On the one hand, the controlled robotic system provides strength and accuracy, holding the tool, keeping the right tool orientation and guaranteeing a smooth approach to the workpiece. On the other hand, the advanced teleoperation provides security and comfort to the user when perf…
Haptic and Visual Feedback Assistance for Dual-Arm Robot Teleoperation in Surface Conditioning Tasks
2020
Contact driven tasks, such as surface conditioning operations (wiping, polishing, sanding, etc.), are difficult to program in advance to be performed autonomously by a robotic system, specially when the objects involved are moving. In many applications, human-robot physical interaction can be used for the teaching, specially in learning from demonstrations frameworks, but this solution is not always available. Robot teleoperation is very useful when user and robot cannot share the same workspace due to hazardous environments, inaccessible locations, or because of ergonomic issues. In this sense, this article introduces a novel dual-arm teleoperation architecture with haptic and visual feedb…
Multisensory texture exploration at the tip of the pen
2016
A tool for the multisensory stylus-based exploration of virtual textures was used to investigate how different feedback modalities (static or dynamically deformed images, vibration, sound) affect exploratory gestures. To this end, we ran an experiment where participants had to steer a path with the stylus through a curved corridor on the surface of a graphic tablet/display, and we measured steering time, dispersion of trajectories, and applied force. Despite the variety of subjective impressions elicited by the different feedback conditions, we found that only nonvisual feedback induced significant variations in trajectories and an increase in movement time. In a post-experiment, using a pa…
Path Following in Non-Visual Conditions.
2018
Path-following tasks have been investigated mostly under visual conditions, that is when subjects are able to see both the path and the tool, or limb, used for navigation. Moreover, only basic path shapes are usually adopted. In the present experiment, participants must rely exclusively on continuous, non-speech, and ecological auditory and vibrotactile cues to follow a path on a flat surface. Two different, asymmetric path shapes were tested. Participants navigated by moving their index finger over a surface sensing position and force. Results show that the different non-visual feedback modes did not affect the task's accuracy, yet they affected its speed, with vibrotactile feedback causin…
Haptic information differentially interferes with visual analysis in reaching-grasping control and in perceptual processes.
1998
We used an interference paradigm in order to study integration between haptic and visual information in motor control and in perceptual analysis. Subjects either reached and grasped a visually presented sphere or matched its size with their left hand while manipulating with their right hand another sphere whose size could be smaller or greater. In four experiments haptic analysis of the manipulated sphere could be either automatically incorporated with or explicitly dissociated from visual analysis. In a fifth experiment reaching-grasping and matching were executed with the right hand, whereas manipulation was executed with the left hand. Manipulation with the right hand influenced finger s…
Feeling of control of an action after supra and subliminal haptic distortions
2015
Here we question the mechanisms underlying the emergence of the feeling of control that can be modulated even when the feeling of being the author of one’s own action is intact. With a haptic robot, participants made series of vertical pointing actions on a virtual surface, which was sometimes postponed by a small temporal delay (15 or 65 ms). Subjects then evaluated their subjective feeling of control. Results showed that after temporal distortions, the hand-trajectories were adapted effectively but that the feeling of control decreased significantly. This was observed even in the case of subliminal distortions for which subjects did not consciously detect the presence of a distortion. Our…
Homoleptic heavy alkaline Earth and europium triazenides.
2009
The sigma-bond metathesis reaction between PhSiH(3) and the heteroleptic metal pentafluorophenyl compounds [Dmp(Tph)N(3)MC(6)F(5)(thf)(n)] (Dmp = 2,6-Mes(2)C(6)H(3) with Mes = 2,4,6-Me(3)C(6)H(2); Tph = 2-TripC(6)H(4) with Trip = 2,4,6-(i)Pr(3)C(6)H(2); n = 1, 2; M = Sr, Ba, Eu) supported by sterically crowded, biphenyl- and terphenyl-substituented triazenido ligands afforded the first homoleptic stontium, barium, and europium triazenides [M{N(3)Dmp(Tph)}(2)] {M = Sr (2), Ba (4), Eu (5)}. Crystallization of 2 from an n-heptane/1,2-dimethoxyethane mixture gave the complex [Sr{N(3)Dmp(Tph)}(2)(dme)] (3). All new compounds have been characterized by (1)H and (13)C NMR spectroscopy (not 5), ele…
Comparing Tangible and Fully Virtual Haptic Systems for HMI Studies in Simulated Driving Situations
2019
International audience; The contribution of tangible and intangible feedback is compared for virtual tactile car Human-Machine Interfaces (HMI) design, to measure their performance both in static conditions and while driving. A subjectively calibrated transparent glass provides tangible passive haptics, and visual cues are used to study sensory substitution-based intangible interactions. The results show that the performance of the subjects was significantly improved in driving conditions as they interacted faster, more accurately and with a higher satisfaction. In addition, our findings highlight that the contribution of tangible systems is significantly lower in driving conditions, raisin…
Developing hand-worn input and haptic support for real-world target finding
2019
Locating places in cities is typically facilitated by handheld mobile devices, which draw the visual attention of the user on the screen of the device instead of the surroundings. In this research, we aim at strengthening the connection between people and their surroundings through enabling mid-air gestural interaction with real-world landmarks and delivering information through audio to retain users' visual attention on the scene. Recent research on gesture-based and haptic techniques for such purposes has mainly considered handheld devices that eventually direct users' attention back to the devices. We contribute a hand-worn, mid-air gestural interaction design with directional vibrotacti…
A New Myohaptic Device to Assess Wrist Function in the Lab and in the Clinic – The Wristalyzer
2008
Wristalyzer is a portable robotic device combining haptic technology with electromyographic assessment. It allows to assess wrist motion in physiological and pathological conditions by applying loads and mechanical oscillations, taking into account the ergonomy and the angular positioning of the joints. The wristalyzer works in a free or loaded mode for assessment of metrics of motion and tremor, analyzes the behavior of the wrist joints and the associated muscle activities during delivery of mechanical oscillations, estimates the maximal voluntary contraction, assesses automatically the impedance of the wrist for assessment of rigidity or spasticity. Position, torques and electromyographic…